/* Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 *
 * Copyright 2024 INRIA.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
#ifndef QP_SOLVERS_H
#define QP_SOLVERS_H

/*!\file QP_Solvers.h
  Subroutines for the resolution of QP problems.

*/

#ifdef __cplusplus
extern "C" {
#endif

/**
  solution of quadratic programming problems
  ql0001 solves the quadratic programming problem

  minimize        .5*x'*C*x + d'*x
  subject to      A(j)*x  +  b(j)   =  0  ,  j=1,...,me
  A(j)*x  +  b(j)  >=  0  ,  j=me+1,...,m
  xl  <=  x  <=  xu

  Here C must be an n by n symmetric and positive matrix, d an n-dimensional
  vector, A an m by n matrix and b an m-dimensional vector. The above
  situation is indicated by iwar(1)=1. Alternatively, i.e. if iwar(1)=0,
  the objective function matrix can also be provided in factorized form.
  In this case, C is an upper triangular matrix.

  The subroutine reorganizes some data so that the problem can be solved
  by a modification of an algorithm proposed by Powell (1983).


  usage:

  call ql0001(m,me,mmax,n,nmax,mnn,c,d,a,b,xl,xu,x,u,iout,ifail,
  iprint,war,lwar,iwar,liwar)

  Definition of the parameters:

  \param m        total number of constraints.
  \param me       number of equality constraints.
  \param mmax     row dimension of a. mmax must be at least one and greater
  than m.
  \param n        number of variables.
  \param nmax     row dimension of C. nmax must be greater or equal to n.
  \param mnn      must be equal to m + n + n.
  \param c (nmax,nmax): objective function matrix which should be symmetric and
  positive definite. If iwar(1) = 0, c is supposed to be the
  choleskey-factor of another matrix, i.e. c is upper
  triangular.
  \param d (nmax)  contains the constant vector of the objective function.
  \param a (mmax,nmax): contains the data matrix of the linear constraints.
  \param b (mmax)  contains the constant data of the linear constraints.
  \param xl (n) contain the lower and upper bounds for the variables.
  \param xu (n) contain the lower and upper bounds for the variables.
  \param x (n) on return, x contains the optimal solution vector.
  \param u (mnn) on return, u contains the lagrange multipliers. The first
  m positions are reserved for the multipliers of the m
  linear constraints and the subsequent ones for the
  multipliers of the lower and upper bounds. On successful
  termination, all values of u with respect to inequalities
  and bounds should be greater or equal to zero.
  \param iout     integer indicating the desired output unit number, i.e.
  all write-statements start with 'write(iout,... '.
  \param ifail    shows the termination reason.
  ifail = 0 :   successful return.
  ifail = 1 :   too many iterations (more than 40*(n+m)).
  ifail = 2 :   accuracy insufficient to satisfy convergence
  criterion.
  ifail = 5 :   length of a working array is too short.
  ifail > 10 :  the constraints are inconsistent.
  \param iprint   output control.
  iprint = 0 :  no output of ql0001.
  iprint > 0 :  brief output in error cases.
  \param war (lwar) real working array. the length lwar should be grater than
  3*nmax*nmax/2 + 10*nmax + 2*mmax.
  \param iwar (liwar): integer working array. the length liwar should be at
  least n.
  if iwar(1)=1 initially, then the cholesky decomposition
  which is required by the dual algorithm to get the first
  unconstrained minimum of the objective function, is
  performed internally. otherwise, i.e. if iwar(1)=0, then
  it is assumed that the user provides the initial fac-
  torization by himself and stores it in the upper trian-
  gular part of the array c.
  a named common-block  /cmache/eps   must be provided by the user,
  \param eps defines a guess for the underlying machine precision.

  \author (c): k. schittkowski,
  mathematisches institut,
  universitaet bayreuth,
  95440 bayreuth,
  germany, f.r.

  y version:    1.5  (june, 1991)

*/

void ql0001(int *m, int *me, int *mmax, int *n, int *nmax, int *mnn, double *c, double *d,
            double *a, double *b, double *xl, double *xu, double *x, double *u, int *iout,
            int *ifail, int *iprint, double *war, int *lwar, int *iwar, int *liwar,
            double *eps);

#ifdef __cplusplus
}
#endif

#endif
